Analysis And Obstacle Performance Study Of The Stair Climbing Robot Based On The Deformable Wheels

As the mainstay of intelligent manufacturing, the robot technology plays a vital role in the process of industrialization. The robots has been applied in different walks of life which attract attention all over the world. Of all the robots, the autonomous robot used in service industry has been one of the hottest concern which lead the development trend into a new era owing to the flourishing market prospect as well as a large number of R&D investment. Based on the current situation of the service robots, the thesis aims at designing a new kind of stair-climbing intelligent robot that has the advantages of simple structure, easy-controlling, low-cost and stable operation. This robot provide an effective solution in the condition of lacking elevator for transporting goods.The thesis focus on the key factors related to robot walking mechanism and movement of climbing barriers such as analysis and simulation of mechanical system and deformable wheel, crossing-obstacle kinematics analysis, stability study, virtual and physical prototype test. Our analytic works in concrete are as follows:Firstly, studying on the transmission system, driving mode, wheel configuration, confirming the overall structure and function layout. using software Creo Parametric and ANSYS to simulate walking mechanism of deformable wheel and static analysis. Meanwhile, comparing leg-moving model with wheel-moving model in different situation.Secondly, simplifying both the robot geometrical model and obstacle terrain, then setting different geometrical and force loading conditions when doing crossingobstacle kinematics analysis to confirm climbing ability and acquire dynamical model as well as zero boundary angle.Lastly, based on virtual prototype technology, using dynamics analysis software ADAMS and ANSYS to simulate three typical climbing obstacle mode. Physical prototype is available to make experiment which can verify the designed robot has excellent obstacle surmounting abilities and stability to accomplish basic obstacle surmounting task. The thesis provide theoretical foundation for robot optimization design.